45 citations · 71 across the 8 of their papers we have counts for
8 papers · 1 filter
Decentralized Pose Graph Riemannian Optimization for Object-based Multi-Robot SLAM
Yixian Zhao, Yan Huang, Yang Xu +2
Pose graph optimization (PGO) is a key back-end component for state estimation in networked multi-robot simultaneous localization and mapping (SLAM). In object-based multi-robot SL…
AF-RLIO: Adaptive Fusion of Radar-LiDAR-Inertial Information for Robust Odometry in Challenging Environments
Chenglong Qian, Yang Xu, Xiufang Shi +2
In robotic navigation, maintaining precise pose estimation and navigation in complex and dynamic environments is crucial. However, environmental challenges such as smoke, tunnels,…
Multi-robot autonomous 3D reconstruction using Gaussian splatting with Semantic guidance
Jing Zeng, Qi Ye, Tianle Liu +5
Implicit neural representations and 3D Gaussian splatting (3DGS) have shown great potential for scene reconstruction. Recent studies have expanded their applications in autonomous…
CARE: Confidence-rich Autonomous Robot Exploration using Bayesian Kernel Inference and Optimization
Yang Xu, Ronghao Zheng, Senlin Zhang +2
In this paper, we consider improving the efficiency of information-based autonomous robot exploration in unknown and complex environments. We first utilize Gaussian process (GP) re…
Bayesian Generalized Kernel Inference for Exploration of Autonomous Robots
Yang Xu, Ronghao Zheng, Senlin Zhang +1
This paper concerns realizing highly efficient information-theoretic robot exploration with desired performance in complex scenes. We build a continuous lightweight inference model…
Confidence-rich Localization and Mapping based on Particle Filter for Robotic Exploration
Yang Xu, Ronghao Zheng, Senlin Zhang +1
This paper mainly studies the localization and mapping of range sensing robots in the confidence-rich map (CRM) and then extends it to provide a full state estimate for information…
Hierarchical Multi-robot Strategies Synthesis and Optimization under Individual and Collaborative Temporal Logic Specifications
Ruofei Bai, Ronghao Zheng, Yang Xu +2
This paper presents a hierarchical framework to solve the multi-robot temporal task planning problem. We assume that each robot has its individual task specification and the robots…
Robust Inertial-aided Underwater Localization based on Imaging Sonar Keyframes
Yang Xu, Ronghao Zheng, Senlin Zhang +1
This article focuses on feature-based underwater localization and navigation for autonomous underwater vehicles (AUVs) using 2D imaging sonar measurements. The sparsity of underwat…